MotionProfile

java.lang.Object
- org.openpnp.model.MotionProfile

public class MotionProfile
extends java.lang.Object

Nested Class Summary

Nested Classes
Modifier and Type Class and Description

static class MotionProfile.ErrorState

static class MotionProfile.ProfileOption

Nested Classes
Modifier and Type	Class and Description
`static class`	`MotionProfile.ErrorState`
`static class`	`MotionProfile.ProfileOption`

Field Summary

Fields
Modifier and Type Field and Description

static int segments

Fields
Modifier and Type	Field and Description
`static int`	`segments`

Constructor Summary

Constructors
Constructor and Description
`MotionProfile(double s0, double s1, double v0, double v1, double a0, double a1, double sMin, double sMax, double vMax, double aMaxEntry, double aMaxExit, double jMax, double tMin, double tMax, int profileOptions)`
`MotionProfile(MotionProfile template)`

Method Summary

All Methods Static Methods Instance Methods Concrete Methods
Modifier and Type	Method and Description
`boolean`	`assertSolved()`
`MotionProfile.ErrorState`	`checkValidity()`
`void`	`clearOption(MotionProfile.ProfileOption option)`
`void`	`computeBounds()`
`void`	`computeProfile(double vPeak, double vEffEntry, double vEffExit, double tMin)`
`protected void`	`computeTime(double tMin)`
`static void`	`coordinateProfiles(MotionProfile[] profiles)`
`static void`	`coordinateProfilesToLead(MotionProfile[] profiles, MotionProfile leadProfile)`
`void`	`coordinateProfileToLead(MotionProfile leadProfile)`
`void`	`copyProfileSolution(MotionProfile template)` Copy the profile solution from the template.
`static double`	`dotProduct(double[] unitVector1, double[] unitVector2)`
`void`	`extractProfileSectionFrom(MotionProfile solvedProfile, double t0, double t7)` Extract the (fractional) segments from solvedProfile between t0 and t1 and save them in this profile.
`double`	`getAcceleration(int segment)`
`double`	`getAccelerationMax()`
`java.lang.Double`	`getBackwardCrossingTime(double sCross, boolean halfProfile)`
`double`	`getEffectiveEntryVelocity(double jMax)`
`double`	`getEffectiveExitVelocity(double jMax)`
`double`	`getEntryAccelerationMax()`
`double`	`getExitAccelerationMax()`
`java.lang.Double`	`getForwardCrossingTime(double sCross, boolean halfProfile)`
`double`	`getHigherABoundary()`
`double`	`getHigherABoundaryTime()`
`double`	`getHigherSBoundary()`
`double`	`getHigherSBoundaryTime()`
`double`	`getHigherVBoundary()`
`double`	`getHigherVBoundaryTime()`
`double`	`getJerk(int segment)`
`double`	`getJerkMax()`
`static int`	`getLeadAxisIndex(double[] vector)`
`static int`	`getLeadAxisIndex(MotionProfile[] profiles)`
`double`	`getLocation(int segment)`
`double`	`getLocationMax()`
`double`	`getLocationMin()`
`double`	`getLowerABoundary()`
`double`	`getLowerABoundary0Time()`
`double`	`getLowerSBoundary()`
`double`	`getLowerSBoundary0Time()`
`double`	`getLowerVBoundary()`
`double`	`getLowerVBoundary0Time()`
`protected double`	`getMomentary(double ts, double f0, double f7, java.util.function.BiFunction<java.lang.Integer,java.lang.Double,java.lang.Double> f)`
`double`	`getMomentaryAcceleration(double time)`
`double`	`getMomentaryJerk(double time)`
`double`	`getMomentaryLocation(double time)`
`double`	`getMomentaryVelocity(double time)`
`int`	`getOptions()`
`double`	`getProfileAcceleration(Driver.MotionControlType motionControlType)`
`double`	`getProfileJerk(Driver.MotionControlType motionControlType)`
`double`	`getProfileVelocity(Driver.MotionControlType motionControlType)`
`double`	`getSegmentBeginTime(int segment)`
`protected java.lang.Double`	`getSegmentCrossingTime(double sCross, double tSeg, int i, boolean forward)`
`double`	`getSolvingTime()`
`double`	`getTime()`
`double`	`getTimeMax()`
`double`	`getTimeMin()`
`static double[]`	`getUnitVector(MotionProfile[] profiles)`
`double`	`getVelocity(int segment)`
`double`	`getVelocityMax()`
`boolean`	`hasOption(MotionProfile.ProfileOption option)`
`boolean`	`isConstantAcceleration()`
`static boolean`	`isCoordinated(MotionProfile[] profiles)`
`boolean`	`isEmpty()`
`boolean`	`isSolved()`
`boolean`	`isSupportingUncoordinated()`
`protected java.lang.Double`	`newtonSolve(double x0, double x1, java.util.function.Function<java.lang.Double,java.lang.Double> f, java.util.function.Function<java.lang.Double,java.lang.Double> g, boolean zeroes)`
`double`	`profileSignum(double vEffEntry, double vEffExit)`
`boolean`	`retimeProfile()` Recalculate the profile to make sure it takes the given amount of time.
`void`	`setEntryAccelerationMax(double aMaxEntry)`
`void`	`setExitAccelerationMax(double aMaxExit)`
`void`	`setJerkMax(double jMax)`
`void`	`setLocationMax(double sMax)`
`void`	`setLocationMin(double sMin)`
`void`	`setOption(MotionProfile.ProfileOption option)`
`void`	`setTimeMax(double tMax)`
`void`	`setTimeMin(double tMin)`
`void`	`setVelocityMax(double vMax)`
`void`	`solve()`
`void`	`solve(int iterations, double vtol, double ttol)`
`void`	`solveByExpansion(double signum, boolean expandEntry, boolean expandExit)`
`boolean`	`solveForVelocity(int iterations, double vtol, double ttol)`
`boolean`	`solveIfNullMove()`
`protected boolean`	`solveRegion(double vPeak0, double vPeak1, double sResult0, double sResult1, double tResult0, double tResult1, double vEffEntry, double vEffExit, double tMin, double bestTime, int iterations, double stol, double vtol, double ttol)`
`static void`	`synchronizeProfiles(MotionProfile[] profiles)`
`java.lang.String`	`toString()`
`void`	`toSvg()`
`void`	`validate(java.lang.String label)`
`static void`	`validateProfiles(MotionProfile[] profiles)`

Methods inherited from class java.lang.Object
clone, equals, finalize, getClass, hashCode, notify, notifyAll, wait, wait, wait

Field Detail
- segments
```
public static final int segments
```
  See Also:
  
  Constant Field Values

Constructor Detail

MotionProfile

public MotionProfile(double s0,
                     double s1,
                     double v0,
                     double v1,
                     double a0,
                     double a1,
                     double sMin,
                     double sMax,
                     double vMax,
                     double aMaxEntry,
                     double aMaxExit,
                     double jMax,
                     double tMin,
                     double tMax,
                     int profileOptions)

MotionProfile

public MotionProfile(MotionProfile template)

Method Detail

hasOption

public boolean hasOption(MotionProfile.ProfileOption option)

setOption

public void setOption(MotionProfile.ProfileOption option)

clearOption

public void clearOption(MotionProfile.ProfileOption option)

getOptions
```
public int getOptions()
```

getLocation

public double getLocation(int segment)

getVelocity

public double getVelocity(int segment)

getAcceleration

public double getAcceleration(int segment)

getJerk
```
public double getJerk(int segment)
```

getSegmentBeginTime

public double getSegmentBeginTime(int segment)

getLocationMin
```
public double getLocationMin()
```

setLocationMin

public void setLocationMin(double sMin)

getLocationMax
```
public double getLocationMax()
```

setLocationMax

public void setLocationMax(double sMax)

getVelocityMax
```
public double getVelocityMax()
```

setVelocityMax

public void setVelocityMax(double vMax)

getEntryAccelerationMax

public double getEntryAccelerationMax()

setEntryAccelerationMax

public void setEntryAccelerationMax(double aMaxEntry)

getExitAccelerationMax

public double getExitAccelerationMax()

setExitAccelerationMax

public void setExitAccelerationMax(double aMaxExit)

getAccelerationMax
```
public double getAccelerationMax()
```

getJerkMax
```
public double getJerkMax()
```

setJerkMax
```
public void setJerkMax(double jMax)
```

getTimeMin
```
public double getTimeMin()
```

setTimeMin
```
public void setTimeMin(double tMin)
```

getTimeMax
```
public double getTimeMax()
```

setTimeMax
```
public void setTimeMax(double tMax)
```

getSolvingTime
```
public double getSolvingTime()
```

getLowerSBoundary
```
public double getLowerSBoundary()
```

getHigherSBoundary
```
public double getHigherSBoundary()
```

getLowerSBoundary0Time

public double getLowerSBoundary0Time()

getHigherSBoundaryTime

public double getHigherSBoundaryTime()

getLowerVBoundary
```
public double getLowerVBoundary()
```

getHigherVBoundary
```
public double getHigherVBoundary()
```

getLowerVBoundary0Time

public double getLowerVBoundary0Time()

getHigherVBoundaryTime

public double getHigherVBoundaryTime()

getLowerABoundary
```
public double getLowerABoundary()
```

getHigherABoundary
```
public double getHigherABoundary()
```

getLowerABoundary0Time

public double getLowerABoundary0Time()

getHigherABoundaryTime

public double getHigherABoundaryTime()

isSolved
```
public boolean isSolved()
```

isEmpty
```
public boolean isEmpty()
```

getProfileVelocity

public double getProfileVelocity(Driver.MotionControlType motionControlType)

getProfileAcceleration

public double getProfileAcceleration(Driver.MotionControlType motionControlType)

getProfileJerk

public double getProfileJerk(Driver.MotionControlType motionControlType)

getTime
```
public double getTime()
```

getMomentary

protected double getMomentary(double ts,
                              double f0,
                              double f7,
                              java.util.function.BiFunction<java.lang.Integer,java.lang.Double,java.lang.Double> f)

getMomentaryLocation

public double getMomentaryLocation(double time)

getMomentaryVelocity

public double getMomentaryVelocity(double time)

getMomentaryAcceleration

public double getMomentaryAcceleration(double time)

getMomentaryJerk

public double getMomentaryJerk(double time)

checkValidity

public MotionProfile.ErrorState checkValidity()

validate

public void validate(java.lang.String label)

validateProfiles

public static void validateProfiles(MotionProfile[] profiles)

toString
```
public java.lang.String toString()
```
Overrides:

toString in class java.lang.Object

solve
```
public void solve()
```

solve

public void solve(int iterations,
                  double vtol,
                  double ttol)

isConstantAcceleration

public boolean isConstantAcceleration()

solveForVelocity

public boolean solveForVelocity(int iterations,
                                double vtol,
                                double ttol)

solveIfNullMove
```
public boolean solveIfNullMove()
```

profileSignum

public double profileSignum(double vEffEntry,
                            double vEffExit)

solveRegion

protected boolean solveRegion(double vPeak0,
                              double vPeak1,
                              double sResult0,
                              double sResult1,
                              double tResult0,
                              double tResult1,
                              double vEffEntry,
                              double vEffExit,
                              double tMin,
                              double bestTime,
                              int iterations,
                              double stol,
                              double vtol,
                              double ttol)

retimeProfile
```
public boolean retimeProfile()
```
Recalculate the profile to make sure it takes the given amount of time.

Parameters:

newTime -

assertSolved
```
public boolean assertSolved()
```

coordinateProfiles

public static void coordinateProfiles(MotionProfile[] profiles)

coordinateProfilesToLead

public static void coordinateProfilesToLead(MotionProfile[] profiles,
                                            MotionProfile leadProfile)

coordinateProfileToLead

public void coordinateProfileToLead(MotionProfile leadProfile)

synchronizeProfiles

public static void synchronizeProfiles(MotionProfile[] profiles)

solveByExpansion

public void solveByExpansion(double signum,
                             boolean expandEntry,
                             boolean expandExit)

extractProfileSectionFrom
```
public void extractProfileSectionFrom(MotionProfile solvedProfile,
                                      double t0,
                                      double t7)
```
Extract the (fractional) segments from solvedProfile between t0 and t1 and save them in this profile. The displacement between t0 and t1 must match s[0] and s[7] of this profile i.e. the t0 and t7 must have been obtained by computing crossing times for s[0] and s[7] on solvedProfile.

Parameters:

solvedProfile -

t0 -

t7 -

copyProfileSolution
```
public void copyProfileSolution(MotionProfile template)
```
Copy the profile solution from the template. This is not a full copy, i.e. constraints etc. are not copied.

Parameters:

template -

getLeadAxisIndex

public static int getLeadAxisIndex(double[] vector)

getLeadAxisIndex

public static int getLeadAxisIndex(MotionProfile[] profiles)

dotProduct

public static double dotProduct(double[] unitVector1,
                                double[] unitVector2)

getUnitVector

public static double[] getUnitVector(MotionProfile[] profiles)

isCoordinated

public static boolean isCoordinated(MotionProfile[] profiles)

computeProfile

public void computeProfile(double vPeak,
                           double vEffEntry,
                           double vEffExit,
                           double tMin)

computeTime

protected void computeTime(double tMin)

getForwardCrossingTime

public java.lang.Double getForwardCrossingTime(double sCross,
                                               boolean halfProfile)

getBackwardCrossingTime

public java.lang.Double getBackwardCrossingTime(double sCross,
                                                boolean halfProfile)

getSegmentCrossingTime

protected java.lang.Double getSegmentCrossingTime(double sCross,
                                                  double tSeg,
                                                  int i,
                                                  boolean forward)

newtonSolve

protected java.lang.Double newtonSolve(double x0,
                                       double x1,
                                       java.util.function.Function<java.lang.Double,java.lang.Double> f,
                                       java.util.function.Function<java.lang.Double,java.lang.Double> g,
                                       boolean zeroes)

computeBounds
```
public void computeBounds()
```

getEffectiveEntryVelocity

public double getEffectiveEntryVelocity(double jMax)

getEffectiveExitVelocity

public double getEffectiveExitVelocity(double jMax)

toSvg
```
public void toSvg()
```

isSupportingUncoordinated

public boolean isSupportingUncoordinated()

Class MotionProfile

Nested Class Summary

Field Summary

Constructor Summary

Method Summary

Methods inherited from class java.lang.Object

Field Detail

segments

Constructor Detail

MotionProfile

MotionProfile

Method Detail

hasOption

setOption

clearOption

getOptions

getLocation

getVelocity

getAcceleration

getJerk

getSegmentBeginTime

getLocationMin

setLocationMin

getLocationMax

setLocationMax

getVelocityMax

setVelocityMax

getEntryAccelerationMax

setEntryAccelerationMax

getExitAccelerationMax

setExitAccelerationMax

getAccelerationMax

getJerkMax

setJerkMax

getTimeMin

setTimeMin

getTimeMax

setTimeMax

getSolvingTime

getLowerSBoundary

getHigherSBoundary

getLowerSBoundary0Time

getHigherSBoundaryTime

getLowerVBoundary

getHigherVBoundary

getLowerVBoundary0Time

getHigherVBoundaryTime

getLowerABoundary

getHigherABoundary

getLowerABoundary0Time

getHigherABoundaryTime

isSolved

isEmpty

getProfileVelocity

getProfileAcceleration

getProfileJerk

getTime

getMomentary

getMomentaryLocation

getMomentaryVelocity

getMomentaryAcceleration

getMomentaryJerk

checkValidity

validate

validateProfiles

toString

solve

solve

isConstantAcceleration

solveForVelocity

solveIfNullMove

profileSignum

solveRegion

retimeProfile

assertSolved

coordinateProfiles

coordinateProfilesToLead

coordinateProfileToLead

synchronizeProfiles

solveByExpansion